Control device, robot, control method, and non-transitory computer-readable recording medium

Abstract

A control device includes a processor which, when an accessory is fitted onto an apparatus, controls a driver such that the accessory interferes with operation of a movable part of the apparatus, acquires data indicating a position of the movable part at which the accessory interferes with the operation of the movable part, and controls the driver such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part.

What is claimed is: 
     
       1. A control device, comprising:
 a processor configured to:
 when an accessory is fitted onto an apparatus, control a driver such that the accessory interferes with operation of a movable part of the apparatus; 
 acquire data indicating a position of the movable part at which the accessory interferes with the operation of the movable part; and 
 control the driver such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part. 
 
 
     
     
       2. The control device according to  claim 1 , wherein the processor determines whether or not the accessory is fitted onto the apparatus, and controls the driver such that the accessory interferes with the operation of the movable part when a determination is made that the accessory is fitted onto the apparatus. 
     
     
       3. The control device according to  claim 2 , further comprising:
 a memory that stores data indicating an initial image being an image of the apparatus in an initial state in which the accessory is not fitted onto the apparatus, 
 wherein the processor acquires data indicating an image captured by the apparatus, compares the image of the apparatus indicated by the acquired data against the initial image stored in the memory, and determines whether or not the accessory is fitted onto the apparatus. 
 
     
     
       4. The control device according to  claim 2 , wherein the processor acquires, from a user of the apparatus, accessory fit-on information indicating that the accessory is fitted onto the apparatus, and determines whether or not the accessory is fitted onto the apparatus, based on the accessory fit-on information. 
     
     
       5. The control device according to  claim 2 , wherein the processor:
 acquires an initial movable range as a movable range of the movable part for when the accessory is not fitted onto the apparatus, and 
 controls the driver such that the movable part is driven within the initial movable range when a determination is made that the accessory is not fitted onto the apparatus. 
 
     
     
       6. The control device according to  claim 2 , wherein the processor:
 detects a portion of the apparatus onto which the accessory is fitted, and 
 controls the driver such that the movable part comes into contact with the accessory positioned at the detected portion. 
 
     
     
       7. The control device according to  claim 1 , further comprising:
 a sensor provided on the movable part, the sensor detecting contact with the movable part, 
 wherein the processor determines, based on a detection result of the sensor, whether or not the accessory interferes with driving of the movable part. 
 
     
     
       8. A robot comprising:
 a movable part; 
 an actuator configured to drive the movable part; and 
 a processor configured to:
 when an accessory is fitted onto the robot, control the actuator such that the accessory interferes with operation of the movable part; 
 acquire data indicating a position of the movable part at which the accessory interferes with the operation of the movable part; and 
 control the actuator such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part. 
 
 
     
     
       9. A method for controlling a control device that controls an apparatus, the method comprising:
 when an accessory is fitted onto the apparatus, controlling a driver such that the accessory interferes with operation of a movable part of the apparatus; 
 acquiring data indicating a position of the movable part at which the accessory interferes with the operation of the movable part; and 
 controlling the driver such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part. 
 
     
     
       10. A non-transitory computer-readable recording medium storing a program causing a computer that controls an apparatus to function as:
 a first driver controller configured to, when an accessory is fitted onto the apparatus, control a driver such that the accessory interferes with operation of a movable part of the apparatus; 
 an acquirer configured to acquire data indicating a position of the movable part at which the accessory interferes with the operation of the movable part by the control performed by the first drive controller; and 
 a second driver controller configured to control the driver such that the movable part is driven within a movable range which is set based on the data indicating the position of the movable part acquired by the acquirer.